39 #include <gtest/gtest.h> 56 _smoothing.setMaxJerk(11.
f);
57 _smoothing.setMaxAccel(7.
f);
58 _smoothing.setMaxVel(5.
f);
61 EXPECT_EQ(_smoothing.getMaxJerk(), 11.f);
62 EXPECT_EQ(_smoothing.getMaxAccel(), 7.f);
63 EXPECT_EQ(_smoothing.getMaxVel(), 5.f);
70 _smoothing.setCurrentVelocity(v0);
77 j_end.
xy() = _smoothing.getCurrentJerk();
78 a_end.
xy() = _smoothing.getCurrentAcceleration();
79 v_end.
xy() = _smoothing.getCurrentVelocity();
80 x_end.
xy() = _smoothing.getCurrentPosition();
TEST_F(ManualVelocitySmoothingXYTest, setGet)
Vector< float, 6 > f(float t, const Matrix< float, 6, 1 > &, const Matrix< float, 3, 1 > &)
Vector3< float > Vector3f
ManualVelocitySmoothingXY _smoothing
const Slice< Type, 2, 1, 3, 1 > xy() const